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<pre><span class="sourceLineNo">001</span>package imagingbook.calibration.zhang;<a name="line.1"></a>
<span class="sourceLineNo">002</span><a name="line.2"></a>
<span class="sourceLineNo">003</span>import static java.lang.Math.cos;<a name="line.3"></a>
<span class="sourceLineNo">004</span>import static java.lang.Math.pow;<a name="line.4"></a>
<span class="sourceLineNo">005</span>import static java.lang.Math.sin;<a name="line.5"></a>
<span class="sourceLineNo">006</span>import static java.lang.Math.sqrt;<a name="line.6"></a>
<span class="sourceLineNo">007</span><a name="line.7"></a>
<span class="sourceLineNo">008</span>import java.awt.geom.Point2D;<a name="line.8"></a>
<span class="sourceLineNo">009</span><a name="line.9"></a>
<span class="sourceLineNo">010</span>import org.apache.commons.math3.analysis.MultivariateMatrixFunction;<a name="line.10"></a>
<span class="sourceLineNo">011</span>import org.apache.commons.math3.analysis.MultivariateVectorFunction;<a name="line.11"></a>
<span class="sourceLineNo">012</span><a name="line.12"></a>
<span class="sourceLineNo">013</span><a name="line.13"></a>
<span class="sourceLineNo">014</span>/**<a name="line.14"></a>
<span class="sourceLineNo">015</span> * Nonlinear optimizer based on the Levenberg-Marquart method, where the Jacobian matrix<a name="line.15"></a>
<span class="sourceLineNo">016</span> * is calculated from analytic expressions (obtained with MatLab).<a name="line.16"></a>
<span class="sourceLineNo">017</span> * <a name="line.17"></a>
<span class="sourceLineNo">018</span> * Part of this implementation is based on code from OpenIMAJ by J. Hare:<a name="line.18"></a>
<span class="sourceLineNo">019</span> *     Copyright (c) 2011, The University of Southampton and the individual contributors.<a name="line.19"></a>
<span class="sourceLineNo">020</span> *     All rights reserved (see https://github.com/openimaj/openimaj/).<a name="line.20"></a>
<span class="sourceLineNo">021</span> * <a name="line.21"></a>
<span class="sourceLineNo">022</span> * @author WB<a name="line.22"></a>
<span class="sourceLineNo">023</span> */<a name="line.23"></a>
<span class="sourceLineNo">024</span>public class NonlinearOptimizerAnalytic extends NonlinearOptimizer {<a name="line.24"></a>
<span class="sourceLineNo">025</span><a name="line.25"></a>
<span class="sourceLineNo">026</span>        protected NonlinearOptimizerAnalytic(Point2D[] modelPts, Point2D[][] obsPts) {<a name="line.26"></a>
<span class="sourceLineNo">027</span>                super(modelPts, obsPts);<a name="line.27"></a>
<span class="sourceLineNo">028</span>        }<a name="line.28"></a>
<span class="sourceLineNo">029</span><a name="line.29"></a>
<span class="sourceLineNo">030</span>        @Override<a name="line.30"></a>
<span class="sourceLineNo">031</span>        MultivariateVectorFunction makeValueFun() {<a name="line.31"></a>
<span class="sourceLineNo">032</span>                return new ValueFun();<a name="line.32"></a>
<span class="sourceLineNo">033</span>        }<a name="line.33"></a>
<span class="sourceLineNo">034</span><a name="line.34"></a>
<span class="sourceLineNo">035</span>        @Override<a name="line.35"></a>
<span class="sourceLineNo">036</span>        MultivariateMatrixFunction makeJacobianFun() {<a name="line.36"></a>
<span class="sourceLineNo">037</span>                return new JacobianFun();<a name="line.37"></a>
<span class="sourceLineNo">038</span>        }<a name="line.38"></a>
<span class="sourceLineNo">039</span><a name="line.39"></a>
<span class="sourceLineNo">040</span>        private class JacobianFun implements MultivariateMatrixFunction {<a name="line.40"></a>
<span class="sourceLineNo">041</span>                /**<a name="line.41"></a>
<span class="sourceLineNo">042</span>                 * Calculates a "stacked" Jacobian matrix with 2MN rows and K = 7 + 6M<a name="line.42"></a>
<span class="sourceLineNo">043</span>                 * columns (for M views with N points each, K parameters). For example, <a name="line.43"></a>
<span class="sourceLineNo">044</span>                 * with M = 5 views and N = 256 points each, J is of size 2560 × 37.<a name="line.44"></a>
<span class="sourceLineNo">045</span>                 * Each pair of rows in the Jacobian corresponds to one point.<a name="line.45"></a>
<span class="sourceLineNo">046</span>                 */<a name="line.46"></a>
<span class="sourceLineNo">047</span>                @Override<a name="line.47"></a>
<span class="sourceLineNo">048</span>                public double[][] value(double[] params) {<a name="line.48"></a>
<span class="sourceLineNo">049</span>                        final double[][] J = new double[2 * M * N][];<a name="line.49"></a>
<span class="sourceLineNo">050</span>                        int r = 0;      // row<a name="line.50"></a>
<span class="sourceLineNo">051</span>                        for (int i = 0; i &lt; M; i++) {   // for all views<a name="line.51"></a>
<span class="sourceLineNo">052</span>                                for (int j = 0; j &lt; N; j++) {   // for all points<a name="line.52"></a>
<span class="sourceLineNo">053</span>                                        final double[][] Jij = subJacobian(i, j, params);<a name="line.53"></a>
<span class="sourceLineNo">054</span>                                        J[r + 0] = Jij[0];      // row 0 (x-coordinate)<a name="line.54"></a>
<span class="sourceLineNo">055</span>                                        J[r + 1] = Jij[1];      // row 1 (y-coordinate)<a name="line.55"></a>
<span class="sourceLineNo">056</span>                                        r = r + 2;<a name="line.56"></a>
<span class="sourceLineNo">057</span>                                }<a name="line.57"></a>
<span class="sourceLineNo">058</span>                        }<a name="line.58"></a>
<span class="sourceLineNo">059</span>//                      System.out.format("**** J = %d / %d\n", J.length, J[0].length);<a name="line.59"></a>
<span class="sourceLineNo">060</span>//                      System.out.println(NonlinearOptimizerAnalytic.class.getSimpleName() + <a name="line.60"></a>
<span class="sourceLineNo">061</span>//                              ": Jacobian inverse condition number = " + MathUtil.inverseConditionNumber(J));<a name="line.61"></a>
<span class="sourceLineNo">062</span>                        return J;<a name="line.62"></a>
<span class="sourceLineNo">063</span>                }<a name="line.63"></a>
<span class="sourceLineNo">064</span><a name="line.64"></a>
<span class="sourceLineNo">065</span>                /**<a name="line.65"></a>
<span class="sourceLineNo">066</span>                 * Calculates the sub-Jacobian for view 'i' / model point 'j' with the current <a name="line.66"></a>
<span class="sourceLineNo">067</span>                 * parameter vector 'params' .<a name="line.67"></a>
<span class="sourceLineNo">068</span>                 * <a name="line.68"></a>
<span class="sourceLineNo">069</span>                 * @param i the point index (= 0,...,M)<a name="line.69"></a>
<span class="sourceLineNo">070</span>                 * @param j the view index (= 0,...,N)<a name="line.70"></a>
<span class="sourceLineNo">071</span>                 * @param params the current parameters (of length K)<a name="line.71"></a>
<span class="sourceLineNo">072</span>                 * @return the two rows (2 x K sub-matrix) of the Jacobian for the given point<a name="line.72"></a>
<span class="sourceLineNo">073</span>                 */<a name="line.73"></a>
<span class="sourceLineNo">074</span>                private double[][] subJacobian(int i, int j, double[] params) {<a name="line.74"></a>
<span class="sourceLineNo">075</span>                        final double[][] A0 = new double[2][camParLength + viewParLength];<a name="line.75"></a>
<span class="sourceLineNo">076</span><a name="line.76"></a>
<span class="sourceLineNo">077</span>                        final double X = modelPts[j].getX();<a name="line.77"></a>
<span class="sourceLineNo">078</span>                        final double Y = modelPts[j].getY();<a name="line.78"></a>
<span class="sourceLineNo">079</span><a name="line.79"></a>
<span class="sourceLineNo">080</span>                        final double alpha = params[0];<a name="line.80"></a>
<span class="sourceLineNo">081</span>                        final double beta  = params[1];<a name="line.81"></a>
<span class="sourceLineNo">082</span>                        final double gamma = params[2];<a name="line.82"></a>
<span class="sourceLineNo">083</span>                        final double uc = params[3];<a name="line.83"></a>
<span class="sourceLineNo">084</span>                        final double vc = params[4];<a name="line.84"></a>
<span class="sourceLineNo">085</span>                        final double k0 = params[5];<a name="line.85"></a>
<span class="sourceLineNo">086</span>                        final double k1 = params[6];<a name="line.86"></a>
<span class="sourceLineNo">087</span><a name="line.87"></a>
<span class="sourceLineNo">088</span>                        final double wx = params[i * viewParLength + camParLength + 0];<a name="line.88"></a>
<span class="sourceLineNo">089</span>                        final double wy = params[i * viewParLength + camParLength + 1];<a name="line.89"></a>
<span class="sourceLineNo">090</span>                        final double wz = params[i * viewParLength + camParLength + 2];<a name="line.90"></a>
<span class="sourceLineNo">091</span>                        final double tx = params[i * viewParLength + camParLength + 3];<a name="line.91"></a>
<span class="sourceLineNo">092</span>                        final double ty = params[i * viewParLength + camParLength + 4];<a name="line.92"></a>
<span class="sourceLineNo">093</span>                        final double tz = params[i * viewParLength + camParLength + 5];<a name="line.93"></a>
<span class="sourceLineNo">094</span><a name="line.94"></a>
<span class="sourceLineNo">095</span>                        // begin matlab code<a name="line.95"></a>
<span class="sourceLineNo">096</span>                        final double t2 = wx * wx;<a name="line.96"></a>
<span class="sourceLineNo">097</span>                        final double t3 = wy * wy;<a name="line.97"></a>
<span class="sourceLineNo">098</span>                        final double t4 = wz * wz;<a name="line.98"></a>
<span class="sourceLineNo">099</span>                        final double t5 = t2 + t3 + t4;<a name="line.99"></a>
<span class="sourceLineNo">100</span>                        final double t6 = sqrt(t5);<a name="line.100"></a>
<span class="sourceLineNo">101</span>                        final double t7 = sin(t6);<a name="line.101"></a>
<span class="sourceLineNo">102</span>                        final double t8 = 1.0 / sqrt(t5);<a name="line.102"></a>
<span class="sourceLineNo">103</span>                        final double t9 = cos(t6);<a name="line.103"></a>
<span class="sourceLineNo">104</span>                        final double t10 = t9 - 1.0;<a name="line.104"></a>
<span class="sourceLineNo">105</span>                        final double t11 = 1.0 / t5;<a name="line.105"></a>
<span class="sourceLineNo">106</span>                        final double t12 = t7 * t8 * wy;<a name="line.106"></a>
<span class="sourceLineNo">107</span>                        final double t13 = t10 * t11 * wx * wz;<a name="line.107"></a>
<span class="sourceLineNo">108</span>                        final double t14 = t12 + t13;<a name="line.108"></a>
<span class="sourceLineNo">109</span>                        final double t15 = t7 * t8 * wz;<a name="line.109"></a>
<span class="sourceLineNo">110</span>                        final double t16 = t7 * t8 * wx;<a name="line.110"></a>
<span class="sourceLineNo">111</span>                        final double t18 = t10 * t11 * wy * wz;<a name="line.111"></a>
<span class="sourceLineNo">112</span>                        final double t17 = t16 - t18;<a name="line.112"></a>
<span class="sourceLineNo">113</span>                        final double t19 = Y * t17;<a name="line.113"></a>
<span class="sourceLineNo">114</span>                        final double t39 = X * t14;<a name="line.114"></a>
<span class="sourceLineNo">115</span>                        final double t20 = t19 - t39 + tz;<a name="line.115"></a>
<span class="sourceLineNo">116</span>                        final double t21 = 1.0 / t20;<a name="line.116"></a>
<span class="sourceLineNo">117</span>                        final double t22 = t10 * t11 * wx * wy;<a name="line.117"></a>
<span class="sourceLineNo">118</span>                        final double t23 = t3 + t4;<a name="line.118"></a>
<span class="sourceLineNo">119</span>                        final double t24 = t10 * t11 * t23;<a name="line.119"></a>
<span class="sourceLineNo">120</span>                        final double t25 = t24 + 1.0;<a name="line.120"></a>
<span class="sourceLineNo">121</span>                        final double t26 = alpha * t25;<a name="line.121"></a>
<span class="sourceLineNo">122</span>                        final double t27 = t15 + t22;<a name="line.122"></a>
<span class="sourceLineNo">123</span>                        final double t28 = t17 * uc;<a name="line.123"></a>
<span class="sourceLineNo">124</span>                        final double t29 = t2 + t4;<a name="line.124"></a>
<span class="sourceLineNo">125</span>                        final double t30 = t10 * t11 * t29;<a name="line.125"></a>
<span class="sourceLineNo">126</span>                        final double t31 = t30 + 1.0;<a name="line.126"></a>
<span class="sourceLineNo">127</span>                        final double t32 = gamma * t31;<a name="line.127"></a>
<span class="sourceLineNo">128</span>                        final double t45 = alpha * t27;<a name="line.128"></a>
<span class="sourceLineNo">129</span>                        final double t33 = t28 + t32 - t45;<a name="line.129"></a>
<span class="sourceLineNo">130</span>                        final double t34 = Y * t33;<a name="line.130"></a>
<span class="sourceLineNo">131</span>                        final double t35 = alpha * tx;<a name="line.131"></a>
<span class="sourceLineNo">132</span>                        final double t36 = gamma * ty;<a name="line.132"></a>
<span class="sourceLineNo">133</span>                        final double t37 = tz * uc;<a name="line.133"></a>
<span class="sourceLineNo">134</span>                        final double t40 = t15 - t22;<a name="line.134"></a>
<span class="sourceLineNo">135</span>                        final double t41 = gamma * t40;<a name="line.135"></a>
<span class="sourceLineNo">136</span>                        final double t42 = t14 * uc;<a name="line.136"></a>
<span class="sourceLineNo">137</span>                        final double t43 = t26 + t41 - t42;<a name="line.137"></a>
<span class="sourceLineNo">138</span>                        final double t44 = X * t43;<a name="line.138"></a>
<span class="sourceLineNo">139</span>                        final double t46 = t34 + t35 + t36 + t37 + t44;<a name="line.139"></a>
<span class="sourceLineNo">140</span>                        final double t47 = t21 * t46;<a name="line.140"></a>
<span class="sourceLineNo">141</span>                        final double t38 = -t47 + uc;<a name="line.141"></a>
<span class="sourceLineNo">142</span>                        final double t48 = 1.0 / (alpha * alpha * alpha);<a name="line.142"></a>
<span class="sourceLineNo">143</span>                        final double t49 = t38 * t38;<a name="line.143"></a>
<span class="sourceLineNo">144</span>                        final double t50 = t48 * t49 * 2.0;<a name="line.144"></a>
<span class="sourceLineNo">145</span>                        final double t51 = 1.0 / (alpha * alpha);<a name="line.145"></a>
<span class="sourceLineNo">146</span>                        final double t52 = X * t25;<a name="line.146"></a>
<span class="sourceLineNo">147</span>                        final double t57 = Y * t27;<a name="line.147"></a>
<span class="sourceLineNo">148</span>                        final double t53 = t52 - t57 + tx;<a name="line.148"></a>
<span class="sourceLineNo">149</span>                        final double t54 = t21 * t38 * t51 * t53 * 2.0;<a name="line.149"></a>
<span class="sourceLineNo">150</span>                        final double t55 = t50 + t54;<a name="line.150"></a>
<span class="sourceLineNo">151</span>                        final double t60 = beta * ty;<a name="line.151"></a>
<span class="sourceLineNo">152</span>                        final double t61 = beta * t40;<a name="line.152"></a>
<span class="sourceLineNo">153</span>                        final double t62 = t14 * vc;<a name="line.153"></a>
<span class="sourceLineNo">154</span>                        final double t63 = t61 - t62;<a name="line.154"></a>
<span class="sourceLineNo">155</span>                        final double t64 = X * t63;<a name="line.155"></a>
<span class="sourceLineNo">156</span>                        final double t65 = tz * vc;<a name="line.156"></a>
<span class="sourceLineNo">157</span>                        final double t66 = t17 * vc;<a name="line.157"></a>
<span class="sourceLineNo">158</span>                        final double t67 = beta * t31;<a name="line.158"></a>
<span class="sourceLineNo">159</span>                        final double t68 = t66 + t67;<a name="line.159"></a>
<span class="sourceLineNo">160</span>                        final double t69 = Y * t68;<a name="line.160"></a>
<span class="sourceLineNo">161</span>                        final double t70 = t60 + t64 + t65 + t69;<a name="line.161"></a>
<span class="sourceLineNo">162</span>                        final double t71 = t21 * t70;<a name="line.162"></a>
<span class="sourceLineNo">163</span>                        final double t56 = -t71 + vc;<a name="line.163"></a>
<span class="sourceLineNo">164</span>                        final double t58 = t49 * t51;<a name="line.164"></a>
<span class="sourceLineNo">165</span>                        final double t59 = 1.0 / (beta * beta);<a name="line.165"></a>
<span class="sourceLineNo">166</span>                        final double t72 = t56 * t56;<a name="line.166"></a>
<span class="sourceLineNo">167</span>                        final double t73 = t59 * t72;<a name="line.167"></a>
<span class="sourceLineNo">168</span>                        final double t74 = t58 + t73;<a name="line.168"></a>
<span class="sourceLineNo">169</span>                        final double t75 = 1.0 / (beta * beta * beta);<a name="line.169"></a>
<span class="sourceLineNo">170</span>                        final double t76 = t72 * t75 * 2.0;<a name="line.170"></a>
<span class="sourceLineNo">171</span>                        final double t77 = X * t40;<a name="line.171"></a>
<span class="sourceLineNo">172</span>                        final double t78 = Y * t31;<a name="line.172"></a>
<span class="sourceLineNo">173</span>                        final double t79 = t77 + t78 + ty;<a name="line.173"></a>
<span class="sourceLineNo">174</span>                        final double t80 = t21 * t56 * t59 * t79 * 2.0;<a name="line.174"></a>
<span class="sourceLineNo">175</span>                        final double t81 = t76 + t80;<a name="line.175"></a>
<span class="sourceLineNo">176</span>                        final double t82 = k0 * t74;<a name="line.176"></a>
<span class="sourceLineNo">177</span>                        final double t83 = t74 * t74;<a name="line.177"></a>
<span class="sourceLineNo">178</span>                        final double t84 = k1 * t83;<a name="line.178"></a>
<span class="sourceLineNo">179</span>                        final double t85 = t82 + t84;<a name="line.179"></a>
<span class="sourceLineNo">180</span>                        final double t86 = 1.0 / pow(t5, 3.0 / 2.0);<a name="line.180"></a>
<span class="sourceLineNo">181</span>                        final double t87 = 1.0 / (t5 * t5);<a name="line.181"></a>
<span class="sourceLineNo">182</span>                        final double t88 = t9 * t11 * wx * wz;<a name="line.182"></a>
<span class="sourceLineNo">183</span>                        final double t89 = t2 * t7 * t86 * wy;<a name="line.183"></a>
<span class="sourceLineNo">184</span>                        final double t90 = t2 * t10 * t87 * wy * 2.0;<a name="line.184"></a>
<span class="sourceLineNo">185</span>                        final double t91 = t7 * t86 * wx * wy;<a name="line.185"></a>
<span class="sourceLineNo">186</span>                        final double t92 = t2 * t7 * t86 * wz;<a name="line.186"></a>
<span class="sourceLineNo">187</span>                        final double t93 = t2 * t10 * t87 * wz * 2.0;<a name="line.187"></a>
<span class="sourceLineNo">188</span>                        final double t105 = t10 * t11 * wz;<a name="line.188"></a>
<span class="sourceLineNo">189</span>                        final double t106 = t9 * t11 * wx * wy;<a name="line.189"></a>
<span class="sourceLineNo">190</span>                        final double t94 = t91 + t92 + t93 - t105 - t106;<a name="line.190"></a>
<span class="sourceLineNo">191</span>                        final double t95 = t7 * t8;<a name="line.191"></a>
<span class="sourceLineNo">192</span>                        final double t96 = t2 * t9 * t11;<a name="line.192"></a>
<span class="sourceLineNo">193</span>                        final double t97 = t10 * t87 * wx * wy * wz * 2.0;<a name="line.193"></a>
<span class="sourceLineNo">194</span>                        final double t98 = t7 * t86 * wx * wy * wz;<a name="line.194"></a>
<span class="sourceLineNo">195</span>                        final double t103 = t2 * t7 * t86;<a name="line.195"></a>
<span class="sourceLineNo">196</span>                        final double t99 = t95 + t96 + t97 + t98 - t103;<a name="line.196"></a>
<span class="sourceLineNo">197</span>                        final double t100 = t10 * t29 * t87 * wx * 2.0;<a name="line.197"></a>
<span class="sourceLineNo">198</span>                        final double t101 = t7 * t29 * t86 * wx;<a name="line.198"></a>
<span class="sourceLineNo">199</span>                        final double t116 = t10 * t11 * wx * 2.0;<a name="line.199"></a>
<span class="sourceLineNo">200</span>                        final double t102 = t100 + t101 - t116;<a name="line.200"></a>
<span class="sourceLineNo">201</span>                        final double t104 = t7 * t86 * wx * wz;<a name="line.201"></a>
<span class="sourceLineNo">202</span>                        final double t107 = X * t94;<a name="line.202"></a>
<span class="sourceLineNo">203</span>                        final double t108 = Y * t99;<a name="line.203"></a>
<span class="sourceLineNo">204</span>                        final double t109 = t107 + t108;<a name="line.204"></a>
<span class="sourceLineNo">205</span>                        final double t110 = 1.0 / (t20 * t20);<a name="line.205"></a>
<span class="sourceLineNo">206</span>                        final double t111 = t10 * t23 * t87 * wx * 2.0;<a name="line.206"></a>
<span class="sourceLineNo">207</span>                        final double t112 = t7 * t23 * t86 * wx;<a name="line.207"></a>
<span class="sourceLineNo">208</span>                        final double t113 = t111 + t112;<a name="line.208"></a>
<span class="sourceLineNo">209</span>                        final double t117 = t10 * t11 * wy;<a name="line.209"></a>
<span class="sourceLineNo">210</span>                        final double t114 = t88 + t89 + t90 - t104 - t117;<a name="line.210"></a>
<span class="sourceLineNo">211</span>                        final double t115 = t94 * uc;<a name="line.211"></a>
<span class="sourceLineNo">212</span>                        final double t118 = t99 * uc;<a name="line.212"></a>
<span class="sourceLineNo">213</span>                        final double t119 = beta * t102;<a name="line.213"></a>
<span class="sourceLineNo">214</span>                        final double t262 = t99 * vc;<a name="line.214"></a>
<span class="sourceLineNo">215</span>                        final double t120 = t119 - t262;<a name="line.215"></a>
<span class="sourceLineNo">216</span>                        final double t121 = Y * t120;<a name="line.216"></a>
<span class="sourceLineNo">217</span>                        final double t122 = beta * t114;<a name="line.217"></a>
<span class="sourceLineNo">218</span>                        final double t123 = t94 * vc;<a name="line.218"></a>
<span class="sourceLineNo">219</span>                        final double t124 = t122 + t123;<a name="line.219"></a>
<span class="sourceLineNo">220</span>                        final double t263 = X * t124;<a name="line.220"></a>
<span class="sourceLineNo">221</span>                        final double t125 = t121 - t263;<a name="line.221"></a>
<span class="sourceLineNo">222</span>                        final double t126 = t21 * t125;<a name="line.222"></a>
<span class="sourceLineNo">223</span>                        final double t127 = t70 * t109 * t110;<a name="line.223"></a>
<span class="sourceLineNo">224</span>                        final double t128 = t126 + t127;<a name="line.224"></a>
<span class="sourceLineNo">225</span>                        final double t129 = gamma * t114;<a name="line.225"></a>
<span class="sourceLineNo">226</span>                        final double t141 = alpha * t113;<a name="line.226"></a>
<span class="sourceLineNo">227</span>                        final double t130 = t115 + t129 - t141;<a name="line.227"></a>
<span class="sourceLineNo">228</span>                        final double t131 = X * t130;<a name="line.228"></a>
<span class="sourceLineNo">229</span>                        final double t132 = -t88 + t89 + t90 + t104 - t117;<a name="line.229"></a>
<span class="sourceLineNo">230</span>                        final double t133 = alpha * t132;<a name="line.230"></a>
<span class="sourceLineNo">231</span>                        final double t142 = gamma * t102;<a name="line.231"></a>
<span class="sourceLineNo">232</span>                        final double t134 = t118 + t133 - t142;<a name="line.232"></a>
<span class="sourceLineNo">233</span>                        final double t135 = Y * t134;<a name="line.233"></a>
<span class="sourceLineNo">234</span>                        final double t136 = t131 + t135;<a name="line.234"></a>
<span class="sourceLineNo">235</span>                        final double t137 = t21 * t136;<a name="line.235"></a>
<span class="sourceLineNo">236</span>                        final double t143 = t46 * t109 * t110;<a name="line.236"></a>
<span class="sourceLineNo">237</span>                        final double t138 = t137 - t143;<a name="line.237"></a>
<span class="sourceLineNo">238</span>                        final double t139 = t38 * t51 * t138 * 2.0;<a name="line.238"></a>
<span class="sourceLineNo">239</span>                        final double t264 = t56 * t59 * t128 * 2.0;<a name="line.239"></a>
<span class="sourceLineNo">240</span>                        final double t140 = t139 - t264;<a name="line.240"></a>
<span class="sourceLineNo">241</span>                        final double t144 = t3 * t7 * t86 * wz;<a name="line.241"></a>
<span class="sourceLineNo">242</span>                        final double t145 = t3 * t10 * t87 * wz * 2.0;<a name="line.242"></a>
<span class="sourceLineNo">243</span>                        final double t146 = -t91 - t105 + t106 + t144 + t145;<a name="line.243"></a>
<span class="sourceLineNo">244</span>                        final double t147 = t3 * t7 * t86;<a name="line.244"></a>
<span class="sourceLineNo">245</span>                        final double t156 = t3 * t9 * t11;<a name="line.245"></a>
<span class="sourceLineNo">246</span>                        final double t148 = -t95 + t97 + t98 + t147 - t156;<a name="line.246"></a>
<span class="sourceLineNo">247</span>                        final double t149 = t10 * t29 * t87 * wy * 2.0;<a name="line.247"></a>
<span class="sourceLineNo">248</span>                        final double t150 = t7 * t29 * t86 * wy;<a name="line.248"></a>
<span class="sourceLineNo">249</span>                        final double t151 = t149 + t150;<a name="line.249"></a>
<span class="sourceLineNo">250</span>                        final double t152 = t9 * t11 * wy * wz;<a name="line.250"></a>
<span class="sourceLineNo">251</span>                        final double t153 = t3 * t7 * t86 * wx;<a name="line.251"></a>
<span class="sourceLineNo">252</span>                        final double t154 = t3 * t10 * t87 * wx * 2.0;<a name="line.252"></a>
<span class="sourceLineNo">253</span>                        final double t155 = t7 * t86 * wy * wz;<a name="line.253"></a>
<span class="sourceLineNo">254</span>                        final double t157 = Y * t146;<a name="line.254"></a>
<span class="sourceLineNo">255</span>                        final double t158 = X * t148;<a name="line.255"></a>
<span class="sourceLineNo">256</span>                        final double t159 = t157 + t158;<a name="line.256"></a>
<span class="sourceLineNo">257</span>                        final double t161 = t10 * t11 * wx;<a name="line.257"></a>
<span class="sourceLineNo">258</span>                        final double t160 = t152 + t153 + t154 - t155 - t161;<a name="line.258"></a>
<span class="sourceLineNo">259</span>                        final double t162 = beta * t160;<a name="line.259"></a>
<span class="sourceLineNo">260</span>                        final double t163 = t148 * vc;<a name="line.260"></a>
<span class="sourceLineNo">261</span>                        final double t164 = t162 + t163;<a name="line.261"></a>
<span class="sourceLineNo">262</span>                        final double t165 = X * t164;<a name="line.262"></a>
<span class="sourceLineNo">263</span>                        final double t166 = beta * t151;<a name="line.263"></a>
<span class="sourceLineNo">264</span>                        final double t267 = t146 * vc;<a name="line.264"></a>
<span class="sourceLineNo">265</span>                        final double t167 = t166 - t267;<a name="line.265"></a>
<span class="sourceLineNo">266</span>                        final double t268 = Y * t167;<a name="line.266"></a>
<span class="sourceLineNo">267</span>                        final double t168 = t165 - t268;<a name="line.267"></a>
<span class="sourceLineNo">268</span>                        final double t169 = t21 * t168;<a name="line.268"></a>
<span class="sourceLineNo">269</span>                        final double t269 = t70 * t110 * t159;<a name="line.269"></a>
<span class="sourceLineNo">270</span>                        final double t170 = t169 - t269;<a name="line.270"></a>
<span class="sourceLineNo">271</span>                        final double t171 = t56 * t59 * t170 * 2.0;<a name="line.271"></a>
<span class="sourceLineNo">272</span>                        final double t172 = -t152 + t153 + t154 + t155 - t161;<a name="line.272"></a>
<span class="sourceLineNo">273</span>                        final double t173 = alpha * t172;<a name="line.273"></a>
<span class="sourceLineNo">274</span>                        final double t174 = t146 * uc;<a name="line.274"></a>
<span class="sourceLineNo">275</span>                        final double t189 = gamma * t151;<a name="line.275"></a>
<span class="sourceLineNo">276</span>                        final double t175 = t173 + t174 - t189;<a name="line.276"></a>
<span class="sourceLineNo">277</span>                        final double t176 = Y * t175;<a name="line.277"></a>
<span class="sourceLineNo">278</span>                        final double t177 = t10 * t23 * t87 * wy * 2.0;<a name="line.278"></a>
<span class="sourceLineNo">279</span>                        final double t178 = t7 * t23 * t86 * wy;<a name="line.279"></a>
<span class="sourceLineNo">280</span>                        final double t190 = t10 * t11 * wy * 2.0;<a name="line.280"></a>
<span class="sourceLineNo">281</span>                        final double t179 = t177 + t178 - t190;<a name="line.281"></a>
<span class="sourceLineNo">282</span>                        final double t180 = gamma * t160;<a name="line.282"></a>
<span class="sourceLineNo">283</span>                        final double t181 = t148 * uc;<a name="line.283"></a>
<span class="sourceLineNo">284</span>                        final double t191 = alpha * t179;<a name="line.284"></a>
<span class="sourceLineNo">285</span>                        final double t182 = t180 + t181 - t191;<a name="line.285"></a>
<span class="sourceLineNo">286</span>                        final double t183 = X * t182;<a name="line.286"></a>
<span class="sourceLineNo">287</span>                        final double t184 = t176 + t183;<a name="line.287"></a>
<span class="sourceLineNo">288</span>                        final double t185 = t21 * t184;<a name="line.288"></a>
<span class="sourceLineNo">289</span>                        final double t192 = t46 * t110 * t159;<a name="line.289"></a>
<span class="sourceLineNo">290</span>                        final double t186 = t185 - t192;<a name="line.290"></a>
<span class="sourceLineNo">291</span>                        final double t187 = t38 * t51 * t186 * 2.0;<a name="line.291"></a>
<span class="sourceLineNo">292</span>                        final double t188 = t171 + t187;<a name="line.292"></a>
<span class="sourceLineNo">293</span>                        final double t193 = t4 * t9 * t11;<a name="line.293"></a>
<span class="sourceLineNo">294</span>                        final double t194 = t4 * t7 * t86 * wx;<a name="line.294"></a>
<span class="sourceLineNo">295</span>                        final double t195 = t4 * t10 * t87 * wx * 2.0;<a name="line.295"></a>
<span class="sourceLineNo">296</span>                        final double t196 = -t152 + t155 - t161 + t194 + t195;<a name="line.296"></a>
<span class="sourceLineNo">297</span>                        final double t197 = t4 * t7 * t86;<a name="line.297"></a>
<span class="sourceLineNo">298</span>                        final double t198 = t10 * t29 * t87 * wz * 2.0;<a name="line.298"></a>
<span class="sourceLineNo">299</span>                        final double t199 = t7 * t29 * t86 * wz;<a name="line.299"></a>
<span class="sourceLineNo">300</span>                        final double t204 = t10 * t11 * wz * 2.0;<a name="line.300"></a>
<span class="sourceLineNo">301</span>                        final double t200 = t198 + t199 - t204;<a name="line.301"></a>
<span class="sourceLineNo">302</span>                        final double t201 = t4 * t7 * t86 * wy;<a name="line.302"></a>
<span class="sourceLineNo">303</span>                        final double t202 = t4 * t10 * t87 * wy * 2.0;<a name="line.303"></a>
<span class="sourceLineNo">304</span>                        final double t203 = t88 - t104 - t117 + t201 + t202;<a name="line.304"></a>
<span class="sourceLineNo">305</span>                        final double t205 = t10 * t23 * t87 * wz * 2.0;<a name="line.305"></a>
<span class="sourceLineNo">306</span>                        final double t206 = t7 * t23 * t86 * wz;<a name="line.306"></a>
<span class="sourceLineNo">307</span>                        final double t207 = t196 * uc;<a name="line.307"></a>
<span class="sourceLineNo">308</span>                        final double t208 = t95 + t97 + t98 + t193 - t197;<a name="line.308"></a>
<span class="sourceLineNo">309</span>                        final double t209 = t203 * uc;<a name="line.309"></a>
<span class="sourceLineNo">310</span>                        final double t210 = -t95 + t97 + t98 - t193 + t197;<a name="line.310"></a>
<span class="sourceLineNo">311</span>                        final double t211 = alpha * t210;<a name="line.311"></a>
<span class="sourceLineNo">312</span>                        final double t231 = gamma * t200;<a name="line.312"></a>
<span class="sourceLineNo">313</span>                        final double t212 = t209 + t211 - t231;<a name="line.313"></a>
<span class="sourceLineNo">314</span>                        final double t213 = Y * t212;<a name="line.314"></a>
<span class="sourceLineNo">315</span>                        final double t214 = X * t196;<a name="line.315"></a>
<span class="sourceLineNo">316</span>                        final double t215 = Y * t203;<a name="line.316"></a>
<span class="sourceLineNo">317</span>                        final double t216 = t214 + t215;<a name="line.317"></a>
<span class="sourceLineNo">318</span>                        final double t217 = t196 * vc;<a name="line.318"></a>
<span class="sourceLineNo">319</span>                        final double t218 = beta * t208;<a name="line.319"></a>
<span class="sourceLineNo">320</span>                        final double t219 = t217 + t218;<a name="line.320"></a>
<span class="sourceLineNo">321</span>                        final double t220 = X * t219;<a name="line.321"></a>
<span class="sourceLineNo">322</span>                        final double t221 = beta * t200;<a name="line.322"></a>
<span class="sourceLineNo">323</span>                        final double t273 = t203 * vc;<a name="line.323"></a>
<span class="sourceLineNo">324</span>                        final double t222 = t221 - t273;<a name="line.324"></a>
<span class="sourceLineNo">325</span>                        final double t274 = Y * t222;<a name="line.325"></a>
<span class="sourceLineNo">326</span>                        final double t223 = t220 - t274;<a name="line.326"></a>
<span class="sourceLineNo">327</span>                        final double t224 = t21 * t223;<a name="line.327"></a>
<span class="sourceLineNo">328</span>                        final double t275 = t70 * t110 * t216;<a name="line.328"></a>
<span class="sourceLineNo">329</span>                        final double t225 = t224 - t275;<a name="line.329"></a>
<span class="sourceLineNo">330</span>                        final double t226 = t56 * t59 * t225 * 2.0;<a name="line.330"></a>
<span class="sourceLineNo">331</span>                        final double t227 = -t204 + t205 + t206;<a name="line.331"></a>
<span class="sourceLineNo">332</span>                        final double t228 = gamma * t208;<a name="line.332"></a>
<span class="sourceLineNo">333</span>                        final double t237 = alpha * t227;<a name="line.333"></a>
<span class="sourceLineNo">334</span>                        final double t229 = t207 + t228 - t237;<a name="line.334"></a>
<span class="sourceLineNo">335</span>                        final double t230 = X * t229;<a name="line.335"></a>
<span class="sourceLineNo">336</span>                        final double t232 = t213 + t230;<a name="line.336"></a>
<span class="sourceLineNo">337</span>                        final double t233 = t21 * t232;<a name="line.337"></a>
<span class="sourceLineNo">338</span>                        final double t238 = t46 * t110 * t216;<a name="line.338"></a>
<span class="sourceLineNo">339</span>                        final double t234 = t233 - t238;<a name="line.339"></a>
<span class="sourceLineNo">340</span>                        final double t235 = t38 * t51 * t234 * 2.0;<a name="line.340"></a>
<span class="sourceLineNo">341</span>                        final double t236 = t226 + t235;<a name="line.341"></a>
<span class="sourceLineNo">342</span>                        final double t239 = 1.0 / alpha;<a name="line.342"></a>
<span class="sourceLineNo">343</span>                        final double t240 = 1.0 / beta;<a name="line.343"></a>
<span class="sourceLineNo">344</span>                        final double t241 = t21 * t56 * t240 * 2.0;<a name="line.344"></a>
<span class="sourceLineNo">345</span>                        final double t242 = gamma * t21 * t38 * t51 * 2.0;<a name="line.345"></a>
<span class="sourceLineNo">346</span>                        final double t243 = t241 + t242;<a name="line.346"></a>
<span class="sourceLineNo">347</span>                        final double t244 = t21 * uc;<a name="line.347"></a>
<span class="sourceLineNo">348</span>                        final double t248 = t46 * t110;<a name="line.348"></a>
<span class="sourceLineNo">349</span>                        final double t245 = t244 - t248;<a name="line.349"></a>
<span class="sourceLineNo">350</span>                        final double t246 = t70 * t110;<a name="line.350"></a>
<span class="sourceLineNo">351</span>                        final double t285 = t21 * vc;<a name="line.351"></a>
<span class="sourceLineNo">352</span>                        final double t247 = t246 - t285;<a name="line.352"></a>
<span class="sourceLineNo">353</span>                        final double t249 = t38 * t51 * t245 * 2.0;<a name="line.353"></a>
<span class="sourceLineNo">354</span>                        final double t286 = t56 * t59 * t247 * 2.0;<a name="line.354"></a>
<span class="sourceLineNo">355</span>                        final double t250 = t249 - t286;<a name="line.355"></a>
<span class="sourceLineNo">356</span>                        final double t251 = k0 * t55;<a name="line.356"></a>
<span class="sourceLineNo">357</span>                        final double t252 = k1 * t55 * t74 * 2.0;<a name="line.357"></a>
<span class="sourceLineNo">358</span>                        final double t253 = t251 + t252;<a name="line.358"></a>
<span class="sourceLineNo">359</span>                        final double t254 = k0 * t81;<a name="line.359"></a>
<span class="sourceLineNo">360</span>                        final double t255 = k1 * t74 * t81 * 2.0;<a name="line.360"></a>
<span class="sourceLineNo">361</span>                        final double t256 = t254 + t255;<a name="line.361"></a>
<span class="sourceLineNo">362</span>                        final double t257 = t21 * t79;<a name="line.362"></a>
<span class="sourceLineNo">363</span>                        final double t258 = t21 * t79 * t85;<a name="line.363"></a>
<span class="sourceLineNo">364</span>                        final double t259 = k0 * t21 * t38 * t51 * t79 * 2.0;<a name="line.364"></a>
<span class="sourceLineNo">365</span>                        final double t260 = k1 * t21 * t38 * t51 * t74 * t79 * 4.0;<a name="line.365"></a>
<span class="sourceLineNo">366</span>                        final double t261 = t259 + t260;<a name="line.366"></a>
<span class="sourceLineNo">367</span>                        final double t265 = k0 * t140;<a name="line.367"></a>
<span class="sourceLineNo">368</span>                        final double t266 = k1 * t74 * t140 * 2.0;<a name="line.368"></a>
<span class="sourceLineNo">369</span>                        final double t270 = k0 * t188;<a name="line.369"></a>
<span class="sourceLineNo">370</span>                        final double t271 = k1 * t74 * t188 * 2.0;<a name="line.370"></a>
<span class="sourceLineNo">371</span>                        final double t272 = t270 + t271;<a name="line.371"></a>
<span class="sourceLineNo">372</span>                        final double t276 = k0 * t236;<a name="line.372"></a>
<span class="sourceLineNo">373</span>                        final double t277 = k1 * t74 * t236 * 2.0;<a name="line.373"></a>
<span class="sourceLineNo">374</span>                        final double t278 = t276 + t277;<a name="line.374"></a>
<span class="sourceLineNo">375</span>                        final double t279 = k0 * t21 * t38 * t239 * 2.0;<a name="line.375"></a>
<span class="sourceLineNo">376</span>                        final double t280 = k1 * t21 * t38 * t74 * t239 * 4.0;<a name="line.376"></a>
<span class="sourceLineNo">377</span>                        final double t281 = t279 + t280;<a name="line.377"></a>
<span class="sourceLineNo">378</span>                        final double t282 = k0 * t243;<a name="line.378"></a>
<span class="sourceLineNo">379</span>                        final double t283 = k1 * t74 * t243 * 2.0;<a name="line.379"></a>
<span class="sourceLineNo">380</span>                        final double t284 = t282 + t283;<a name="line.380"></a>
<span class="sourceLineNo">381</span>                        final double t287 = k0 * t250;<a name="line.381"></a>
<span class="sourceLineNo">382</span>                        final double t288 = k1 * t74 * t250 * 2.0;<a name="line.382"></a>
<span class="sourceLineNo">383</span>                        final double t289 = t287 + t288;<a name="line.383"></a>
<span class="sourceLineNo">384</span>                        // alpha<a name="line.384"></a>
<span class="sourceLineNo">385</span>                        A0[0][0] = t21 * t53 + t253<a name="line.385"></a>
<span class="sourceLineNo">386</span>                                        * (uc - t21 * (t34 + t35 + t36 + t37 + X * (t26 - t14 * uc + gamma * (t15 - t10 * t11 * wx * wy))))<a name="line.386"></a>
<span class="sourceLineNo">387</span>                                        + t21 * t53 * t85;<a name="line.387"></a>
<span class="sourceLineNo">388</span>                        // beta<a name="line.388"></a>
<span class="sourceLineNo">389</span>                        A0[0][1] = t38 * t256;<a name="line.389"></a>
<span class="sourceLineNo">390</span>                        // uc<a name="line.390"></a>
<span class="sourceLineNo">391</span>                        A0[0][3] = 1.0;<a name="line.391"></a>
<span class="sourceLineNo">392</span>                        // vc<a name="line.392"></a>
<span class="sourceLineNo">393</span>                        A0[0][4] = 0.0;<a name="line.393"></a>
<span class="sourceLineNo">394</span>                        // gamma<a name="line.394"></a>
<span class="sourceLineNo">395</span>                        A0[0][2] = t257 + t258 + t38 * t261;<a name="line.395"></a>
<span class="sourceLineNo">396</span>                        // k1<a name="line.396"></a>
<span class="sourceLineNo">397</span>                        A0[0][5] = -t38 * t74;<a name="line.397"></a>
<span class="sourceLineNo">398</span>                        // k2<a name="line.398"></a>
<span class="sourceLineNo">399</span>                        A0[0][6] = -t38 * t83;<a name="line.399"></a>
<span class="sourceLineNo">400</span>                        A0[0][7] = t137<a name="line.400"></a>
<span class="sourceLineNo">401</span>                                        - t143<a name="line.401"></a>
<span class="sourceLineNo">402</span>                                        + t38<a name="line.402"></a>
<span class="sourceLineNo">403</span>                                        * (t265 + t266)<a name="line.403"></a>
<span class="sourceLineNo">404</span>                                        + t85<a name="line.404"></a>
<span class="sourceLineNo">405</span>                                        * (t21<a name="line.405"></a>
<span class="sourceLineNo">406</span>                                                        * (X * (t115 - alpha * t113 + gamma * (t88 + t89 + t90 - t10 * t11 * wy - t7 * t86 * wx * wz)) + Y<a name="line.406"></a>
<span class="sourceLineNo">407</span>                                                                        * (t118 + alpha * (-t88 + t89 + t90 + t104 - t10 * t11 * wy) - gamma * t102)) - t46 * t109<a name="line.407"></a>
<span class="sourceLineNo">408</span>                                                                        * t110);<a name="line.408"></a>
<span class="sourceLineNo">409</span>                        A0[0][8] = t185 - t192 + t85 * t186 + t38 * t272;<a name="line.409"></a>
<span class="sourceLineNo">410</span>                        A0[0][9] = -t238<a name="line.410"></a>
<span class="sourceLineNo">411</span>                                        + t38<a name="line.411"></a>
<span class="sourceLineNo">412</span>                                        * t278<a name="line.412"></a>
<span class="sourceLineNo">413</span>                                        + t85<a name="line.413"></a>
<span class="sourceLineNo">414</span>                                        * t234<a name="line.414"></a>
<span class="sourceLineNo">415</span>                                        + t21<a name="line.415"></a>
<span class="sourceLineNo">416</span>                                        * (t213 + X<a name="line.416"></a>
<span class="sourceLineNo">417</span>                                                        * (t207 + gamma * (t95 + t97 + t98 + t193 - t4 * t7 * t86) - alpha<a name="line.417"></a>
<span class="sourceLineNo">418</span>                                                                        * (t205 + t206 - t10 * t11 * wz * 2.0)));<a name="line.418"></a>
<span class="sourceLineNo">419</span>                        A0[0][10] = alpha * t21 + t38 * t281 + alpha * t21 * t85;<a name="line.419"></a>
<span class="sourceLineNo">420</span>                        A0[0][11] = gamma * t21 + t38 * t284 + gamma * t21 * t85;<a name="line.420"></a>
<span class="sourceLineNo">421</span>                        A0[0][12] = t244 - t46 * t110 + t38 * t289 + t85 * t245;<a name="line.421"></a>
<span class="sourceLineNo">422</span><a name="line.422"></a>
<span class="sourceLineNo">423</span>                        // alpha<a name="line.423"></a>
<span class="sourceLineNo">424</span>                        A0[1][0] = t56 * t253;<a name="line.424"></a>
<span class="sourceLineNo">425</span>                        // beta<a name="line.425"></a>
<span class="sourceLineNo">426</span>                        A0[1][1] = t257 + t258 + t56 * t256;<a name="line.426"></a>
<span class="sourceLineNo">427</span>                        // uc<a name="line.427"></a>
<span class="sourceLineNo">428</span>                        A0[1][3] = 0.0;<a name="line.428"></a>
<span class="sourceLineNo">429</span>                        // vc<a name="line.429"></a>
<span class="sourceLineNo">430</span>                        A0[1][4] = 1.0;<a name="line.430"></a>
<span class="sourceLineNo">431</span>                        // gamma<a name="line.431"></a>
<span class="sourceLineNo">432</span>                        A0[1][2] = t56 * t261;<a name="line.432"></a>
<span class="sourceLineNo">433</span>                        // k1<a name="line.433"></a>
<span class="sourceLineNo">434</span>                        A0[1][5] = -t56 * t74;<a name="line.434"></a>
<span class="sourceLineNo">435</span>                        // k2<a name="line.435"></a>
<span class="sourceLineNo">436</span>                        A0[1][6] = -t56 * t83;<a name="line.436"></a>
<span class="sourceLineNo">437</span><a name="line.437"></a>
<span class="sourceLineNo">438</span>                        A0[1][7] = -t126 - t127 + t56 * (t265 + t266) - t85 * t128;<a name="line.438"></a>
<span class="sourceLineNo">439</span>                        A0[1][8] = t169 - t269 + t85 * t170 + t56 * t272;<a name="line.439"></a>
<span class="sourceLineNo">440</span>                        A0[1][9] = t224 - t275 + t85 * t225 + t56 * t278;<a name="line.440"></a>
<span class="sourceLineNo">441</span>                        A0[1][10] = t56 * t281;<a name="line.441"></a>
<span class="sourceLineNo">442</span>                        A0[1][11] = beta * t21 + t56 * t284 + beta * t21 * t85;<a name="line.442"></a>
<span class="sourceLineNo">443</span>                        A0[1][12] = -t246 + t285 - t85 * t247 + t56 * t289;<a name="line.443"></a>
<span class="sourceLineNo">444</span>                        // end of matlab code<a name="line.444"></a>
<span class="sourceLineNo">445</span><a name="line.445"></a>
<span class="sourceLineNo">446</span>                        final double[][] Jij = new double[2][camParLength + viewParLength * M];<a name="line.446"></a>
<span class="sourceLineNo">447</span>                        System.arraycopy(A0[0], 0, Jij[0], 0, camParLength);<a name="line.447"></a>
<span class="sourceLineNo">448</span>                        System.arraycopy(A0[1], 0, Jij[1], 0, camParLength);<a name="line.448"></a>
<span class="sourceLineNo">449</span>                        System.arraycopy(A0[0], 7, Jij[0], camParLength + i * viewParLength, viewParLength);<a name="line.449"></a>
<span class="sourceLineNo">450</span>                        System.arraycopy(A0[1], 7, Jij[1], camParLength + i * viewParLength, viewParLength);<a name="line.450"></a>
<span class="sourceLineNo">451</span>                        //System.out.format("**** Jij = %d / %d\n", Jij.length, Jij[0].length);<a name="line.451"></a>
<span class="sourceLineNo">452</span>                        return Jij;<a name="line.452"></a>
<span class="sourceLineNo">453</span>                }<a name="line.453"></a>
<span class="sourceLineNo">454</span>        }<a name="line.454"></a>
<span class="sourceLineNo">455</span><a name="line.455"></a>
<span class="sourceLineNo">456</span>}<a name="line.456"></a>




























































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